Diff: main.cpp

Revision:

0:0b1211077b9a

Child:

1:d75b1ae184ea

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 02 16:45:34 2014 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "sMotor.h"
+ 
+ 
+Serial pc(USBTX, USBRX);
+sMotor motor(dp9, dp10, dp11, dp13); // creates new stepper motor: IN1, IN2, IN3, IN4
+ 
+int step_speed = 1200 ; // set default motor speed
+int numstep = 512 ; // defines full turn of 360 degree
+int direction = 0; //0 for right, 1 for left
+bool upaljen = false;
+char c; 
+ 
+void meni()
+{
+    pc.printf("Default Speed: %d, press: \n\r",step_speed);
+    pc.printf("1- postavljanje u proizvoljan polozaj\n\r");
+    pc.printf("2- promjena smjera kretanja motora\n\r");
+    pc.printf("3- promjena brzine\n\r");
+    pc.printf("4- pokretanje/zaustavljanje motora\n\r");
+}
+ 
+int main()
+{
+    meni();
+    while (1) {
+        if (pc.readable()) { // checks for serial
+            
+            c=pc.getc();
+            if (c == '1') {
+                /*if(!upaljen) {
+                    pc.printf("\n Motor je ugasen, upali motor \n");
+                    meni();
+                    continue;
+                }*/
+                int ugao;
+                pc.printf("\n Unesi ugao: \n\r");
+                pc.scanf("%d", &ugao);
+                if (ugao > 0 )
+                    motor.step(numstep / 360 * (ugao % 360), direction, step_speed); // number of steps, direction, speed
+                else
+                    motor.step(numstep / 360 * (ugao % 360), 1 - direction, step_speed); // number of steps, direction, speed
+                meni();if(upaljen) motor.step(numstep, direction, step_speed);
+            }
+ 
+            if (c =='2') {
+                direction = 1 - direction;
+                pc.printf("\n Smjer je promjenjen\n");
+                meni();if(upaljen) motor.step(numstep, direction, step_speed);
+            }
+            if ( c =='3') {
+                pc.printf("\n trenutna brzina: %d\n\r", step_speed);
+                pc.printf("\n Unesi novu brzinu: \n\r");
+                pc.scanf("%d",&step_speed);
+                if(upaljen) motor.step(numstep, direction, step_speed);
+                meni();if(upaljen) motor.step(numstep, direction, step_speed);
+            }
+ 
+            if (c =='4') {
+                if(upaljen == false) {
+                    upaljen = true;
+                    motor.step(numstep, direction, step_speed);
+                    pc.printf("\n motor je upaljen \n");
+                } else {
+                    upaljen = false;
+                    motor.step(numstep, direction, 0);
+                    pc.printf("\n motor je ugasen \n");
+                }
+                meni();if(upaljen) motor.step(numstep, direction, step_speed);
+            }
+        }
+    }
+}
+